CN111629344B - Data transmission method, device, equipment and computer readable storage medium - Google Patents
Data transmission method, device, equipment and computer readable storage medium Download PDFInfo
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- CN111629344B CN111629344B CN202010295232.XA CN202010295232A CN111629344B CN 111629344 B CN111629344 B CN 111629344B CN 202010295232 A CN202010295232 A CN 202010295232A CN 111629344 B CN111629344 B CN 111629344B
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Abstract
The application relates to the field of data processing, and provides a data transmission method, a data transmission device, data transmission equipment and a computer-readable storage medium. According to the technical scheme, on one hand, a plurality of groups of data are acquired through a plurality of groups of data acquisition equipment, at least one group of data is delivered to the data processing equipment to be processed by the data processing equipment, on the other hand, a plurality of data processing equipment are adopted, the at least one group of data can be delivered to the data processing equipment which is not in fault by combining the state information of each data processing unit to be processed, when part of the grouped data acquisition equipment is damaged or part of the calculation units are in fault, the data can still be transmitted normally, and the reliability of data transmission is improved.
Description
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a data transmission method, apparatus, device, and computer-readable storage medium.
Background
With the development of data processing technology, the data acquisition equipment is used for acquiring data and transmitting the data to the data processing equipment for subsequent processing, and the development of intelligent technology is significant. Taking unmanned driving as an example, the sensor can be used as data acquisition equipment of an automatic driving vehicle and used for sensing environmental information and providing acquired sensing data for a computing unit of the automatic driving vehicle for intelligent control of the vehicle.
However, in the manner of transmitting data from the data acquisition device to the data processing device provided by the conventional technology, it is necessary for each device to be in a normal working state to ensure that the data is effectively transmitted and processed, and there is a technical problem of low reliability of data transmission.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a data transmission method, apparatus, device and computer readable storage medium for solving the above technical problems.
A data transmission method, comprising the steps of:
acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data;
acquiring state information corresponding to the at least two data processing devices;
controlling, based on the status information, at least one of the at least two sets of data to be transmitted to an uncorrupted one of the at least two data processing devices.
In one embodiment, before controlling at least one of the at least two sets of data to be transmitted to the non-failed data processing apparatus of the at least two data processing apparatuses based on the status information, the method further includes: acquiring the working state of the data acquisition equipment group; determining a data acquisition equipment group with a normal working state in the at least two data acquisition equipment groups based on the working state; and determining the at least one group of data according to the data acquired by the data acquisition equipment group with the normal working state.
In one embodiment, the obtaining of the state information corresponding to the at least two data processing devices includes: acquiring time sequence signals corresponding to the data processing equipment; obtaining the state information according to the time sequence signal; the controlling, based on the status information, at least one of the at least two sets of data to be transmitted to an uncorrupted data processing device of the at least two data processing devices comprises: determining the data processing equipment without faults according to the data processing equipment with normal time sequence signals in the at least two data processing equipment; controlling the at least one set of data to be transmitted to the non-faulty data processing device.
In one embodiment, the acquiring data acquired by at least two data acquisition device groups to obtain at least two groups of data includes: acquiring the at least two groups of data by utilizing at least two data exchange devices correspondingly connected with the at least two data acquisition device groups; the at least two data exchange devices are connected with each other, and are used for the at least two data exchange devices to exchange data acquired from the corresponding data acquisition device groups with each other, so as to obtain the at least two groups of data.
In one embodiment, the at least two data exchange devices are correspondingly connected with the at least two data processing devices; the controlling at least one of the at least two sets of data to be transmitted to an un-failed data processing device of the at least two data processing devices comprises: and controlling a data exchange device connected with the non-failure data processing device to transmit the at least one group of data to the non-failure data processing device.
In one embodiment, the obtaining of the state information corresponding to the at least two data processing devices includes: acquiring a data receiving state of the data processing equipment; the data receiving state is used for representing the state of the data processing equipment for receiving data from the corresponding data exchange equipment; and obtaining the state information according to the data receiving state.
In one embodiment, said controlling a data exchange device connected to said non-failing data processing device to transfer said at least one set of data to said non-failing data processing device comprises: and determining the data processing equipment without faults according to the data processing equipment with normal data receiving state in the at least two data processing equipment.
A data transmission apparatus comprising:
the data acquisition module is used for acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data;
the information acquisition module is used for acquiring the state information corresponding to the at least two data processing devices;
and the data transmission module is used for controlling at least one group of data in the at least two groups of data to be transmitted to the non-fault data processing equipment in the at least two data processing equipment based on the state information.
In one embodiment, the data transmission apparatus further comprises: the data determining module is used for acquiring the working state of the data acquisition equipment group; determining a data acquisition equipment group with a normal working state in the at least two data acquisition equipment groups based on the working state; and determining the at least one group of data according to the data acquired by the data acquisition equipment group with the normal working state.
In one embodiment, the information obtaining module is further configured to obtain a timing signal corresponding to each data processing device; and obtaining the state information according to the time sequence signal.
In one embodiment, the data transmission module is further configured to determine the non-faulty data processing device according to a data processing device with a normal timing signal in the at least two data processing devices; controlling the at least one set of data to be transmitted to the non-faulty data processing device.
In one embodiment, the data acquiring module is further configured to acquire the at least two sets of data by using at least two data exchange devices correspondingly connected to the at least two data acquisition device sets; the at least two data exchange devices are connected with each other, and are used for the at least two data exchange devices to exchange data acquired from the corresponding data acquisition device groups with each other, so as to obtain the at least two groups of data.
In one embodiment, the at least two data exchange devices are correspondingly connected with the at least two data processing devices; and the data transmission module is further used for controlling a data exchange device connected with the non-failure data processing device and transmitting the at least one group of data to the non-failure data processing device.
In one embodiment, the information obtaining module is further configured to obtain a data receiving status of the data processing device; the data receiving state is used for representing the state of the data processing equipment for receiving data from the corresponding data exchange equipment; and obtaining the state information according to the data receiving state.
In an embodiment, the data transmission module is further configured to determine the non-faulty data processing device according to a data processing device with a normal data receiving status, from among the at least two data processing devices.
A data transmission device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data; acquiring state information corresponding to the at least two data processing devices; controlling, based on the status information, at least one of the at least two sets of data to be transmitted to an uncorrupted one of the at least two data processing devices.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data; acquiring state information corresponding to the at least two data processing devices; controlling, based on the status information, at least one of the at least two sets of data to be transmitted to an uncorrupted one of the at least two data processing devices.
The data transmission method, the data transmission device, the data transmission equipment and the computer readable storage medium acquire data acquired by at least two data acquisition equipment groups so as to acquire at least two groups of data, acquire state information corresponding to the at least two data processing equipment, and then control at least one group of data in the at least two groups of data to be transmitted to the data processing equipment which does not have a fault in the at least two data processing equipment based on the state information. According to the scheme, on one hand, a plurality of groups of data are acquired through a plurality of groups of data acquisition equipment, at least one group of data can be processed by the data processing equipment, on the other hand, a plurality of data processing equipment are adopted, the at least one group of data can be processed by the data processing equipment which does not have faults by combining the state information of each data processing unit, the data can still be transmitted as usual when part of the grouped data acquisition equipment is damaged or part of the calculation units have faults, and the reliability of data transmission is improved.
Drawings
FIG. 1 is a diagram of an exemplary data transmission method;
FIG. 2 is a flow diagram illustrating a method for data transmission according to one embodiment;
FIG. 3 is a flow diagram illustrating the steps of determining at least one set of data in one embodiment;
FIG. 4 is a flowchart illustrating steps for obtaining status information in one embodiment;
FIG. 5 is a flowchart illustrating steps for transferring data to a data processing device in one embodiment;
FIG. 6 is a block diagram of a data processing system in an example application;
FIG. 7 is a block diagram showing the structure of a data transmission apparatus according to an embodiment;
fig. 8 is an internal configuration diagram of a data transmission device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The data transmission method provided by the present application may be applied to an application environment shown in fig. 1, where fig. 1 is an application environment diagram of the data transmission method in one embodiment. The application environment may include a data collection device group 110, a data transmission device 120, and a data processing device 130. The data transmission device 120 may be configured to transmit the data collected by the data collection device group 110 to the data processing device 130. Specifically, the data collection device group 110 may include at least two data collection device groups (e.g., a data collection device group 1, a data collection device group 2, etc.), and the data transmission device 120 may receive data collected by each data collection device group, respectively, so as to obtain at least two sets of data. The data processing device 130 may also include at least two data processing devices (e.g., the data processing device 1, the data processing device 2, etc.), and the data transmission device 120 may acquire status information of each data processing device, and based on the status information, control at least one of the obtained at least two sets of data to be transmitted to an un-failed data processing device of the at least two data processing devices, and the un-failed data processing device processes the data.
In an embodiment, a data transmission method is provided, as shown in fig. 2, fig. 2 is a schematic flow chart of the data transmission method in an embodiment, and the method may include the following steps:
step S201, acquiring data acquired by at least two data acquisition device groups to obtain at least two groups of data.
In this step, the number of the data acquisition device groups is at least two, each data acquisition device group may include at least one data acquisition device, and the data acquisition device may be a device having data acquisition capability, such as a sensor. The data acquisition devices included in different data acquisition device groups may be the same or different. It should be noted that, during the operation of the data acquisition device group, the data acquisition devices in the data acquisition device group may be damaged, for example, all the data acquisition devices in one data acquisition device group are damaged, in this case, a group of data acquired from the damaged data acquisition device group may be data with a data value of 0.
In some embodiments, two different data acquisition device groups may be deployed to acquire data, wherein various data acquisition devices may be grouped according to actual requirements of a data acquisition task, thereby forming two different data acquisition device groups. The two or more different data acquisition data sets deployed in the present embodiment may be used for acquiring different data or have different data acquisition purposes, and each data acquisition data set includes data acquisition devices different from other data acquisition device sets.
Specifically, the grouping of the data collection devices is described by taking a vehicle-mounted sensor as an example of the data collection device, and it is assumed that the vehicle-mounted sensor includes a 360-degree rotation laser radar and a 360-degree camera provided on the roof of the vehicle, and blind spot laser radars provided in four directions of front/rear/left/right of the vehicle, and millimeter wave radars provided in four corners of the vehicle and in front of the vehicle. For this, the 360-degree rotation laser radar and the millimeter wave radar may be classified into sensor group a, and the remaining sensors may be classified into sensor group B. If the sensors can work normally, the data processing equipment of the vehicle can accurately regulate and control the operation of the vehicle according to the data which can be collected by each group of sensors, so that the vehicle can have the best performance in the operation process. When one group of sensors, such as the sensor group A, fails, the performance is reduced, but the sensor group B can still work normally, and the running of the vehicle can be enabled to be in a minimum risk state depending on data collected by the sensor group B, such as parking at the side; the reverse is true, i.e., if sensor group B fails, the data collected by sensor group a can also be such that the vehicle's operation can meet the minimum risk condition. Thus, groups of sensors can be balanced according to actual data collection tasks so that any one group can provide the necessary environmental information to achieve the lowest, risk condition for the vehicle.
Step S202, acquiring the corresponding state information of at least two data processing devices.
In this step, the at least two data processing devices may be paired with each other, so that when some of the data processing devices fail, they may be replaced by other data processing devices paired with them. Wherein each data processing device may have the same data processing performance, for example, a plurality of the same data processing devices may be employed.
Each data processing device has corresponding status information, which may include, but is not limited to, whether the corresponding data processing device is in a failed state, an un-failed data processing device may be referred to as an un-failed data processing device, and a failed data processing device may be referred to as a failed data processing device.
Specifically, the data processing device may have a device capable of processing data collected by the data collecting device, and the data processing device may be a processor, and taking a vehicle control system as an example, the data processing device may correspond to a computing unit of a vehicle, and the computing unit of the vehicle may receive sensing data collected by a sensor of the vehicle, perform calculation based on the sensing data, and send a corresponding control instruction to a control unit of the vehicle to control the vehicle. The two computing units can be deployed in the vehicle, and the step can detect the state information corresponding to the two computing units in real time so as to judge whether the two computing units are in failure.
Step S203, controlling at least one of the at least two sets of data to be transmitted to an un-failed data processing apparatus of the at least two data processing apparatuses based on the status information.
In this step, after the at least two sets of data acquired by the at least two sets of data acquisition devices are acquired in step S201 and the state information corresponding to the at least two sets of data processing devices is acquired in step S202, a non-faulty data processing device may be determined from the at least two sets of data processing devices based on the state information, and then at least one of the at least two sets of data is transmitted to the non-faulty data processing device for processing.
The number of the non-failure data processing devices may be at least one, that is, at least one of the at least two sets of data is to be transmitted to the at least one non-failure data processing device, and the data processing is usually performed by one data processing device, so that one of the non-failure data processing devices may be controlled to process the at least one set of data. In some embodiments, since the states of the data processing devices are changed in real time, when it is detected that the data processing device a currently processing data fails, the non-failed data processing device B can be found from the at least two data processing devices, and the task of data processing is switched from the data processing device a to the non-failed data processing device B, so that when one data processing device fails, the data can still be processed normally by the other data processing devices.
The data transmission method acquires data acquired by at least two data acquisition equipment groups so as to obtain at least two groups of data, acquires state information corresponding to the at least two data processing equipment, and then controls at least one group of data in the at least two groups of data to be transmitted to the non-fault data processing equipment in the at least two data processing equipment based on the state information. According to the scheme, on one hand, a plurality of groups of data are acquired through a plurality of groups of data acquisition equipment, at least one group of data can be processed by the data processing equipment, on the other hand, a plurality of data processing equipment are adopted, the at least one group of data can be processed by the data processing equipment which does not have faults by combining the state information of each data processing unit, the data can still be transmitted as usual when part of the grouped data acquisition equipment is damaged or part of the calculation units have faults, and the reliability of data transmission is improved.
In an embodiment, as shown in fig. 3, fig. 3 is a schematic flowchart of the step of determining at least one set of data in an embodiment, before controlling at least one set of data in the at least two sets of data to be transmitted to an un-failed data processing apparatus of the at least two data processing apparatuses based on the state information in step S203, the method further includes:
step S301, acquiring the working state of a data acquisition equipment group;
step S302, determining a data acquisition equipment group with a normal working state in at least two data acquisition equipment groups based on the working state;
step S303, determining at least one group of data according to the data collected by the data collection equipment group with normal working state.
The embodiment can judge which group of data is transmitted to the data processing equipment to be processed by combining the working state of each data acquisition equipment group. Specifically, the working state of each data acquisition device group may be obtained first, and the data acquisition device group with a normal working state in the data acquisition device groups may be determined according to the working state. The working state of the data acquisition equipment group is normal, and the data acquisition equipment group can be judged in multiple modes, for example, whether each data acquisition equipment contained in each data acquisition equipment group can normally acquire data can be judged, if all the data acquisition equipment in one data acquisition equipment group can not normally acquire data, the data acquisition equipment group can be judged to be in an abnormal working state, and if one or more data acquisition equipment in one data acquisition equipment group are damaged, and the damaged data acquisition equipment can also judge that the data acquisition equipment group is in an abnormal working state when the data acquisition equipment group can not complete corresponding data acquisition tasks. If all the data acquisition devices in a data acquisition device group can normally acquire data or if part of the data acquisition devices are damaged, the data acquisition device group can still complete the corresponding data acquisition task, and then the data acquisition device group can be judged to be the data acquisition device group with a normal working state. Therefore, the data collected by the data collection equipment groups with normal working states can be used as the data which can be transmitted to the data processing equipment, and the data can comprise at least one group.
According to the technical scheme, data screening is performed before data are transmitted to the data processing equipment for processing, so that the problem that processing results are inaccurate due to the fact that data acquired by the data acquisition equipment group with abnormal working states are transmitted to the data processing equipment for processing is solved.
In an embodiment, as shown in fig. 4, fig. 4 is a flowchart illustrating a step of acquiring status information in an embodiment, and acquiring the status information corresponding to at least two data processing devices in step S202 includes:
step S401, acquiring time sequence signals corresponding to each data processing device;
step S402, obtaining the state information according to the time sequence signal.
In this embodiment, each data processing device may further have a corresponding timing signal, and the timing signal may inform the control system which data processing device is adopted. The time sequence signal can be used for synchronizing the data acquired by each data processing device to each data acquisition device, and can also be used for representing the state of each data processing device. Specifically, the time sequence signals of the data processing devices can be detected in real time, and whether the corresponding data processing device has a fault or not can be judged according to the time sequence signals. If the time sequence signal of the data processing equipment is detected to be normal, the data processing equipment can be judged to be the non-fault data processing equipment.
In an embodiment, as shown in fig. 5, fig. 5 is a flowchart illustrating a step of transmitting data to a data processing apparatus in an embodiment, and the controlling at least one of the at least two sets of data to be transmitted to an uncorrupted data processing apparatus of the at least two data processing apparatuses based on the status information in step S203 includes:
step S501, determining non-fault data processing equipment according to the data processing equipment with normal time sequence signals in at least two data processing equipment;
step S502, at least one group of data is controlled to be transmitted to the non-failure data processing equipment.
In this embodiment, of the at least two data processing apparatuses, the data processing apparatus whose timing signal is normal may be used as the non-failure data processing apparatus. Wherein the number of non-malfunctioning data processing devices may be at least one. And then, transmitting the at least one group of data to the non-fault data processing equipment for processing. Because the time sequence signal of the data processing equipment without faults is in a normal state, the data acquisition process of the data acquisition equipment can be accurately synchronized, and the data transmitted to the data processing equipment without faults can be the data acquired by the data acquisition equipment group with a normal working state, so that the reliability of data transmission and processing is further improved.
In one embodiment, the acquiring data acquired by at least two data acquisition device groups in step S201 to obtain at least two groups of data includes:
and acquiring at least two groups of data by utilizing at least two data exchange devices correspondingly connected with the at least two data acquisition device groups.
In this embodiment, the data acquired by each data acquisition device group may be acquired by a plurality of data exchange devices. Specifically, at least two data exchange devices may be deployed, the data exchange devices may be switches, and the number of the data exchange devices may be the same as the number of the data acquisition device groups. The data acquisition equipment group comprises at least two data acquisition equipment groups, at least two data exchange equipment groups and at least two data exchange equipment groups, wherein the at least two data exchange equipment groups can be correspondingly connected with the at least two data exchange equipment groups respectively, and the data exchange equipment groups are mutually connected, and the at least two data exchange equipment groups can mutually exchange data acquired from the corresponding data acquisition equipment groups respectively by the connection mode, so that at least two groups of data are obtained.
For example, two data acquisition device groups and two data exchange devices are taken as an example for illustration, the data acquisition device group a1 is connected to the data exchange device C1, the data acquisition device group a2 is connected to the data exchange device C2, all data acquisition devices included in the data acquisition device group a1 can transmit data to the data exchange device C1, a group of data D1 is formed in the data exchange device C1, and similarly, a group of data D2 from the data acquisition device group a2 is formed in the data exchange device C2. The data exchange device C1 is connected to the data exchange device C2, and is used for the data exchange device C1 to exchange data D1 with data D2 of the data exchange device C2, so that the data exchange device C1 obtains data D1 and data D2, and the data exchange device C2 also obtains data D1 and data D2, and thus the data collected by each data collection device group (i.e., data D1 and data D2) can be obtained from any one of the data exchange devices C1 and C2.
The mode that this embodiment adopted a plurality of data switching equipment to gather data each back interchange respectively acquires the multiunit data that each data acquisition equipment group gathered, can reduce in a large number and gather required wiring when data from data acquisition equipment group, is convenient for acquire each group of data, still is favorable to carrying out the data acquisition of grouping to different other data acquisition equipment in group moreover.
In one embodiment, further, at least two data exchange devices are correspondingly connected with at least two data processing devices; controlling at least one of the at least two sets of data to be transmitted to an un-failed data processing apparatus of the at least two data processing apparatuses in step S203 includes:
and controlling a data exchange device connected with the non-failure data processing device to transmit at least one group of data to the non-failure data processing device.
In this embodiment, each data exchange device is further connected to each data processing device correspondingly. Taking two data exchange devices and two data processing devices as examples, the data exchange device C1 is connected to the data processing device P1, and the data exchange device C2 is connected to the data processing device P2. The connection between the data exchange device and the data processing device is mainly used for data transmission. In step S203, it may be determined that there is no failed data processing device according to the status information, and the data exchange device connected to the failed data processing device has acquired all the data acquired by each data acquisition device group in a data exchange manner, at this time, the data exchange device connected to the failed data processing device may be controlled to transmit at least one group of data to the failed data processing device for processing. According to the scheme of the embodiment, on one hand, corresponding connection between the data exchange equipment and the data processing equipment can be established, wiring required when multiple groups of data acquired by each data acquisition equipment are transmitted to the data processing equipment is greatly saved, on the other hand, because each group of data are integrated into each data exchange equipment, the data acquired by each data acquisition equipment group can be transmitted to the data processing equipment without faults only by controlling the corresponding data exchange equipment, and any data processing equipment can be ensured to receive the same data, so that data processing tasks can be switched among different data processing equipment conveniently.
In an embodiment, further, the acquiring the status information corresponding to at least two data processing devices in step S202 includes:
acquiring a data receiving state of the data processing equipment; and obtaining the state information according to the data receiving state.
In this embodiment, the data processing device may receive data from the corresponding data exchange device, and the data receiving state of the data processing device may be used to characterize a state in which the data processing device receives data from the corresponding data exchange device, for example, whether the data processing device can receive data from the data exchange device, if it is determined that the data processing device cannot receive data from the data exchange device, it may be determined that the data receiving state of the data processing device is abnormal, and if the data processing device can receive data from the data exchange device, it may be determined that the data receiving state of the data processing device is normal.
In an embodiment, the controlling the data exchange device connected to the non-failed data processing device in step S203 further includes, before transmitting at least one set of data to the non-failed data processing device:
and determining the data processing equipment which does not have the fault according to the data processing equipment with the normal data receiving state in the at least two data processing equipment.
The present embodiment mainly determines an uncorrupted data processing apparatus of at least two data processing apparatuses according to the data reception status. The data processing device in the normal data receiving state may be used as a non-failure data processing device, and the data processing device in the normal data receiving state is used to process at least one group of data collected by the data collecting device group.
In a specific scenario, the data receiving state of the data processing device may be abnormal due to damage of the data processing device and the data exchange device. According to the scheme provided by the embodiment, for the data processing equipment is damaged and cannot normally receive data from the data exchange equipment, each data exchange equipment has each group of data acquired by each data acquisition group, so that the data generated by other data exchange equipment can be controlled to be processed by corresponding data processing equipment which does not have a fault, and the normal transmission and processing of the data are ensured. For the data exchange equipment is damaged and cannot normally send data to the data exchange equipment, all the data exchange equipment has all the data collected by all the data collection groups, so that other normal data exchange equipment can be controlled to send data to corresponding non-fault data processing equipment for processing, normal transmission and processing of the data can be ensured, and the reliability of data transmission and processing is further improved.
To further clarify the technical solutions provided by the present application, the data transmission method of the present application is applied to a data processing system as shown in fig. 6 for explanation, and fig. 6 is a schematic structural diagram of a data processing system in an application example, the data processing system may be a vehicle control system, wherein a vehicle may have multiple sets of sensors, which may be used for sensing the environment and providing sensing data to a computing unit, so that the computing unit may control the vehicle according to the sensing data. The application example can improve the reliability of transmission and processing of the sensing data, thereby improving the driving safety of the vehicle, and the improvement of the reliability of the transmission of the sensing data is one of the keys for realizing system-level safety and reliability.
Specifically, the vehicle control system may be deployed with sensor group a and sensor group B, and different groups may have different numbers and types of sensors. For example, sensor group a may include a vehicle 360-degree rotation lidar provided on the roof of the vehicle and millimeter wave radars provided at four corners of the vehicle and in front of the vehicle, and sensor group B may include a 360-degree camera provided on the roof of the vehicle and blind spot radars provided in four directions of front/rear/left/right of the vehicle. When all the sensors can work normally, the calculation unit can accurately regulate and control the running of the vehicle according to the sensing data, so that the vehicle has the best performance. When sensor group a fails, performance may degrade, but still be sufficient to bring the vehicle to a minimum risk condition, such as parking alongside; and vice versa. Therefore, there is a need to balance the sensors so that any one group can provide the necessary environmental information to bring the vehicle to the lowest risk condition.
The vehicle control system may further include a sensor hub, which may include a switch a and a switch B connected to each other, respectively, to the sensor group a and the sensor group B, and which may combine all the sensing data into one sensor hub.
The vehicle control system may further deploy the first computing unit and the second computing unit paired with each other, and in case one of the computing units malfunctions, the sensing data may be simultaneously supplied to the first computing unit and the second computing unit. Wherein switch a and switch B may be connected to the first computing unit and the second computing unit through a backbone channel a and a backbone channel B, respectively. The switch a and the switch B may respectively send the sensing data (the sensing data may include at least one group of sensing data collected by the sensor group a and the sensor group B) through two same trunk channels (the trunk channels a and B), one of the sensing data is sent to the first computing unit, and the other one of the sensing data is sent to the second computing unit. The sensor group A and the sensor group B can acquire data through 360-degree rotating laser radars and millimeter wave radars as a set of sensing data of the sensor group A, the sensor group B can acquire data through 360-degree cameras and blind spot laser radars as a set of sensing data of the sensor group B, and the switch A and the switch B can transmit at least one set of the two sets of sensing data to the first computing unit and the second computing unit through the trunk channel A and the trunk channel B respectively.
Specifically, the switch a combines all the sensing data from the sensor group a and then sends the combined sensing data to the switch B, the switch B combines all the sensing data from the sensor group B and then sends the combined sensing data to the switch a, the switch a sends all the sensing data of the sensor groups a and B from the trunk channel a to the first computing unit, and the switch B can send all the sensing data of the sensor groups a and B from the trunk channel B to the second computing unit, so that the first computing unit and the second computing unit can obtain all the sensing data. Where two switches are used in case one of the switches fails, the other switch paired with a sensor in its group will continue to provide sufficient sensory data to achieve the minimum risk condition, e.g., when switch a fails, the failure detector may select the second computing unit to receive the sensory data for computation.
In addition, since the sensing data is incorporated in the sensing hub, the sensing hub can be placed near the sensor, and then two long cables can be used as the trunk channel a and the trunk channel B, thereby greatly saving the wiring between the sensor and the computing unit.
For the synchronization of the sensor, a synchronous time sequence unit is required to be arranged, the first calculation unit or the second calculation unit can be used as a default synchronous time sequence unit, the first calculation unit or the second calculation unit can be selected as the synchronous time sequence unit during normal operation, when a fault detector connected with the first calculation unit and the second calculation unit respectively detects that any one of the first calculation unit and the second calculation unit has a fault, the fault detector can decide whether to keep the current synchronous time sequence unit or switch to a new synchronous time sequence unit, and the mode plays an important role in a vehicle scene that does not support the automatic timing main switch.
The technical scheme provided by the application example improves the reliability of sensing data transmission and calculation, greatly reduces wiring and is beneficial to realizing system-level safety.
It should be understood that although the steps in the flowcharts of fig. 2 to 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 to 5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In an embodiment, as shown in fig. 7, fig. 7 is a block diagram of a data transmission apparatus in an embodiment, and a data transmission apparatus is provided, where the data transmission apparatus 700 may include:
the data acquisition module 701 is used for acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data;
an information obtaining module 702, configured to obtain state information corresponding to at least two data processing devices;
a data transmission module 703, configured to control, based on the status information, at least one of the at least two sets of data to be transmitted to a non-failed data processing apparatus of the at least two data processing apparatuses.
In one embodiment, the data transmission apparatus 700 may further include: the data determining module is used for acquiring the working state of the data acquisition equipment group; determining a data acquisition equipment group with a normal working state in at least two data acquisition equipment groups based on the working state; and determining at least one group of data according to the data acquired by the data acquisition equipment group in the normal working state.
In an embodiment, the information obtaining module 702 is further configured to obtain a timing signal corresponding to each data processing apparatus; and obtaining the state information according to the time sequence signal.
In one embodiment, the data transmission module 703 is further configured to determine a non-faulty data processing device according to a data processing device with a normal timing signal in the at least two data processing devices; and controlling at least one group of data to be transmitted to the non-fault data processing equipment.
In one embodiment, the data obtaining module 701 is further configured to obtain at least two sets of data by using at least two data exchange devices correspondingly connected to at least two data acquisition device sets; the data acquisition equipment group comprises at least two data exchange equipment, wherein the at least two data exchange equipment are mutually connected and used for mutually exchanging the data acquired from the corresponding data acquisition equipment group by the at least two data exchange equipment to obtain at least two groups of data.
In one embodiment, at least two data exchange devices are correspondingly connected with at least two data processing devices; the data transmission module 703 is further configured to control a data exchange device connected to the non-failed data processing device, and transmit at least one set of data to the non-failed data processing device.
In one embodiment, the information obtaining module 702 is further configured to obtain a data receiving status of the data processing apparatus; a data reception state for characterizing a state in which the data processing device receives data from the respective data switching device; and obtaining the state information according to the data receiving state.
In an embodiment, the data transmitting module 703 is further configured to determine a non-faulty data processing device according to a data processing device with a normal data receiving status, from among the at least two data processing devices.
For specific limitations of the data transmission device, reference may be made to the above limitations of the data transmission method, which are not described herein again. The modules in the data transmission device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the data transmission equipment, and can also be stored in a memory in the data transmission equipment in a software form, so that the processor can call and execute the corresponding operations of the modules.
In one embodiment, a data transmission device is provided, and an internal structure diagram of the data transmission device may be as shown in fig. 8, and fig. 8 is an internal structure diagram of the data transmission device in one embodiment. The data transfer device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the data transfer device is configured to provide computational and control capabilities. The memory of the data transmission device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the data transmission device is used for carrying out wired or wireless communication with external devices, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a data transmission method.
Those skilled in the art will appreciate that the structure shown in fig. 8 is a block diagram of only a portion of the structure associated with the present application and does not constitute a limitation on the data transmission device to which the present application applies, and that a particular data transmission device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In an embodiment, there is further provided a data transmission device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps in the data transmission method embodiments when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the above-mentioned data transmission method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of data transmission, comprising the steps of:
acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data; the at least two data acquisition equipment groups are deployed in groups according to risk conditions required to be met by vehicle operation;
acquiring state information corresponding to the at least two data processing devices;
controlling at least one of the at least two sets of data to be transmitted to an uncorrupted one of the at least two data processing devices based on the status information; at least one group of data in the at least two groups of data is data acquired by a data acquisition equipment group with a normal working state in the at least two data acquisition equipment groups.
2. The method according to claim 1, wherein before controlling at least one of the at least two sets of data to be transmitted to the non-failed data processing device of the at least two data processing devices based on the status information, further comprising:
acquiring the working state of the data acquisition equipment group;
determining a data acquisition equipment group with a normal working state in the at least two data acquisition equipment groups based on the working state;
and determining the at least one group of data according to the data acquired by the data acquisition equipment group with the normal working state.
3. The method of claim 1,
the acquiring the state information corresponding to the at least two data processing devices includes:
acquiring time sequence signals corresponding to the data processing equipment;
obtaining the state information according to the time sequence signal;
the controlling, based on the status information, at least one of the at least two sets of data to be transmitted to an uncorrupted data processing device of the at least two data processing devices comprises:
determining the data processing equipment without faults according to the data processing equipment with normal time sequence signals in the at least two data processing equipment;
controlling the at least one set of data to be transmitted to the non-faulty data processing device.
4. The method of claim 1, wherein the obtaining data collected by at least two data collection device groups results in at least two data sets, comprising:
acquiring the at least two groups of data by utilizing at least two data exchange devices correspondingly connected with the at least two data acquisition device groups;
the at least two data exchange devices are connected with each other, and are used for the at least two data exchange devices to exchange data acquired from the corresponding data acquisition device groups with each other, so as to obtain the at least two groups of data.
5. The method according to claim 4, wherein the at least two data exchange devices are correspondingly connected with the at least two data processing devices;
the controlling at least one of the at least two sets of data to be transmitted to an un-failed data processing device of the at least two data processing devices comprises:
and controlling a data exchange device connected with the non-failure data processing device to transmit the at least one group of data to the non-failure data processing device.
6. The method according to claim 5, wherein the obtaining the status information corresponding to the at least two data processing devices comprises:
acquiring a data receiving state of the data processing equipment; the data receiving state is used for representing the state of the data processing equipment for receiving data from the corresponding data exchange equipment;
and obtaining the state information according to the data receiving state.
7. The method according to claim 6, wherein said controlling a data exchange device connected to said non-failing data processing device to transfer said at least one set of data to said non-failing data processing device comprises:
and determining the data processing equipment without faults according to the data processing equipment with normal data receiving state in the at least two data processing equipment.
8. A data transmission apparatus, comprising:
the data acquisition module is used for acquiring data acquired by at least two data acquisition equipment groups to obtain at least two groups of data; the at least two data acquisition equipment groups are deployed in groups according to risk conditions required to be met by vehicle operation;
the information acquisition module is used for acquiring the state information corresponding to the at least two data processing devices;
the data transmission module is used for controlling at least one group of data in the at least two groups of data to be transmitted to the data processing equipment which does not have a fault in the at least two data processing equipment based on the state information; at least one group of data in the at least two groups of data is data acquired by a data acquisition equipment group with a normal working state in the at least two data acquisition equipment groups.
9. A data transmission device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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